JP5304348B2 - Vehicle driving support device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve a problem that a driver is not familiar to information presentation using stereophonic sound since the frequency of information presentation is low and that accurate direction perception of presented sound/voice is hindered under the circumstance of information presentation with urgency. <P>SOLUTION: When an obstacle is not detected at a periphery of the vehicle, namely under the circumstance that arousing of attention is not required, by controlling a plurality of speakers making relevant to predetermined vehicle action, virtual sound by stereophonic sound in which a sound image localization direction is approximately coincident with an incoming direction of action sound accompanying with the predetermined vehicle action is outputted. Thus, until getting off is performed from after getting on is performed, when the obstacle is not present, the virtual sound with the different sound image localization direction is outputted at high frequency. Thereby, direction perception ability by auditory sense of the driver that "training" is unconsciously repeated by the driver is enhanced without feeling troublesomeness and burdens by the driver. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a vehicle driving support device, and more particularly, to a vehicle driving support device that can output a notification sound when an obstacle approaches a vehicle.

  Currently, research on a vehicle driving support device that supports a driver's danger avoidance operation by presenting to the driver in advance a risk that the driver may overlook has been made, and various proposals have been made. For example, it provides information on the presence of vehicles coming from the left and right at intersections with poor visibility, provides information on the presence of straight-ahead vehicles, pedestrians, and bicycles when turning right, and provides information on the presence of rear side vehicles when changing lanes And so on.

  As means for transmitting such information to the driver, information presentation using three-dimensional sound is being studied. This has the following technical background. That is, human hearing has an excellent ability to perceive a sound source position. For example, a visually impaired person can perform a ball game using a ball that makes a sound, depending on training. In addition, if information is presented using hearing, information on the relative positional relationship of an object outside the field of view can be transmitted to the driver as it is, which is effective for such applications.

  With regard to such a technique, for example, Patent Document 1 discloses a technique for outputting a notification sound from a speaker close to a target dangerous object to localize the direction of the dangerous object. Patent Document 2 also discloses a technique for generating a virtual sound so that a sound image can be formed at a position corresponding to the relative direction of a peripheral object.

JP 2001-001851 A JP 2007-328603 A

  In general, sighted people have few opportunities to consciously perceive direction perception in daily life. Visual confirmation is essential for sighted people. Much of auditory direction perception is performed unconsciously, and the perception obtained is ambiguous. Such uncertainties in direction perception only by hearing can be easily confirmed by games such as “Blindfold Demon”. As described above, for example, a visually handicapped person can perform ball games using a sound-producing ball depending on training. In other words, it can be said that a certain amount of training is necessary to improve the accuracy of direction perception by hearing alone.

  However, in general, many information presentation devices for vehicles using voice have a low frequency of information presentation. This is because information presentation has a meaning of alerting, and a high information presentation frequency causes unpleasant emotions such as annoyance to the driver, and the frequency is adjusted to be kept to a minimum.

  As a result, the driver continues to be unfamiliar with information presentation using stereophonic sounds, causing confusion and delay in reaction under the situation of information presentation requiring urgency. This causes a problem that the accurate direction perception of the presented speech is hindered.

  Furthermore, the low frequency of information presentation means that the time during which information is not presented is long, which means that the information presentation device has no value, that is, a dead time and agreement with the length of time. Therefore, there may be a problem that the driver is dissatisfied with the low price effectiveness.

  The present invention has been made to cope with such a problem, and an object thereof is to realize a vehicle driving support device that can make information presentation using stereophonic sound more effective.

  According to one aspect of the present invention, a vehicle driving support device capable of outputting a notification sound for notifying an occupant of the presence of an obstacle when the obstacle is detected, is disposed in a vehicle interior. A plurality of speakers, a detecting means for detecting an obstacle that may collide with a vehicle, a calculating means for calculating the direction of the obstacle when the obstacle is detected by the detecting means, and the plurality of speakers. And a notification sound output means for outputting a notification sound whose sound image localization direction substantially coincides with the direction calculated by the calculation means, and when no obstacle is detected by the detection means, And a virtual sound output unit configured to control the plurality of speakers and output a virtual sound based on stereophonic sound in which a sound image localization direction substantially coincides with an arrival direction of the operation sound accompanying the predetermined vehicle operation. Preparative vehicular driving support apparatus is provided, wherein.

  According to this configuration, when there is no obstacle between getting on and getting off, virtual sounds having different sound image localization directions are frequently output. Thereby, the driver can unconsciously repeat the “training” without causing the driver to feel bothersome and burdensome. As a result, the driver's auditory direction perception ability can be improved.

  According to a preferred embodiment of the present invention, it is preferable that the predetermined vehicle operation is a central door lock / unlock, and the virtual sound is a virtual sound of the central door lock / unlock.

  According to this configuration, it is possible to improve the direction perception ability of the driver for the virtual sound by using the door lock mechanism.

  According to a preferred embodiment of the present invention, it is preferable that the output order of the virtual sound of the central door lock / unlock is clockwise, counterclockwise or random starting from the driver's door.

  According to this configuration, it is possible to effectively improve the direction perception ability of the driver for the virtual sound.

  According to a preferred embodiment of the present invention, it is preferable that the predetermined vehicle operation is a door mirror storage / deployment operation, and the virtual sound is a virtual sound of the door mirror storage / deployment operation.

  According to this configuration, it is possible to improve the driver's ability to perceive the direction of the virtual sound using the door mirror storage / deployment mechanism.

  According to a preferred embodiment of the present invention, the predetermined vehicle operation is an opening operation of a fuel filler lid or a filler cap, and the virtual sound is at least one of an opening sound of a filler cap and a fuel injection sound. Preferably there is.

  According to this configuration, it is possible to improve the driver's ability to perceive the direction of the virtual sound using the opening operation of the fueling lid.

  According to another aspect of the present invention, there is provided a vehicle driving support device capable of outputting a notification sound for notifying an occupant of the presence of an obstacle when the obstacle is detected, and is disposed in a vehicle interior. A plurality of speakers, a detection unit that detects an obstacle that may collide with a vehicle, a calculation unit that calculates an orientation of the obstacle when the obstacle is detected by the detection unit, and the plurality of speakers Notification sound output means for outputting a notification sound in which the sound image localization direction substantially coincides with the direction calculated by the calculation means by controlling the speaker, and when the obstacle is not detected by the detection means, the current time is notified There is provided a vehicular driving support apparatus, comprising: virtual sound output means for outputting a sound generated by three-dimensional sound while changing the sound image localization direction by controlling the plurality of speakers.

  According to this configuration, it is possible to improve the direction perception ability of the driver for the virtual sound when the current time is notified by voice.

  According to a preferred embodiment of the present invention, the virtual sound output means has a sound image localization direction between a 12 o'clock position and a short hand position corresponding to the current time on a virtual analog clock face centered on a driver. It is preferable to output the sound by the stereophonic sound that notifies the current time while sequentially moving.

  According to this configuration, since the sound that informs the current time is output while sequentially moving the sound image localization direction on the virtual analog clock board, the direction perception ability of the driver for the virtual sound can be effectively improved.

  According to a preferred embodiment of the present invention, it is preferable to further include an adjusting means for adjusting the sound image localization direction of the virtual sound output by the virtual sound output means in accordance with a driver operation instruction.

  According to this configuration, it is possible to adjust the sound image localization position of the virtual sound according to the user.

  According to the present invention, information presentation using stereophonic sound becomes more effective for the driver.

1 is a schematic plan view of a vehicle to which a driving support device of the present invention is applied. 1 is a block diagram illustrating a configuration of a driving support device in Embodiment 1. FIG. 5 is a flowchart illustrating control processing according to the first embodiment. The figure explaining the example of the virtual sound output control at the time of an obstacle detection. The figure which shows the example of the stereophonic sound output control at the time of the concentrated door lock operation in training mode. The figure explaining the example which produces | generates the virtual sound at the time of door mirror accommodation / expansion | deployment operation | movement. The figure explaining the example which produces | generates the virtual sound at the time of oil supply lid opening operation. FIG. 6 is a block diagram illustrating a configuration of a driving support device according to a second embodiment. 9 is a flowchart illustrating control processing according to the second embodiment. The figure explaining the example which produces | generates the time signal audio | voice in Example 2. FIG. The block diagram which shows the structure of the driving assistance device in a modification. The flowchart which shows the control processing which concerns on a modification. The figure explaining the adjustment process of the sound image localization position of the virtual sound in a modification.

  DESCRIPTION OF EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited to the following embodiment, It shows only the specific example advantageous for implementation of this invention. In addition, not all combinations of features described in the following embodiments are indispensable as means for solving the problems of the present invention.

  In the following embodiments, in a driving support device that presents information using stereophonic sound, a training function is provided to improve the accuracy of direction perception by the driver's stereophonic sound. As described above, the reason for the low accuracy of direction perception of alert sound by stereophonic sound is due to the low frequency of such alerts in the first place. Therefore, the training function described above is based on the idea that the frequency of direction perception by stereophonic sound should be increased, and that content that does not have the meaning of alerting will not cause unpleasant emotions such as annoyance to the driver. Operates in association with a predetermined vehicle operation. That is, during the period from getting on to getting off, information presentation by a plurality of three-dimensional sounds with different sound image localization directions is operated in accordance with a predetermined vehicle operation. At this time, the driver is not bothered and burdened. As a result of unconsciously repeating “training”, the driver's ability to perceive direction is improved, and the unfamiliar state of the driver is resolved. That is, the effectiveness of information presentation is improved. Note that the predetermined vehicle operation may be, for example, a vehicle door central locking operation, a door mirror storage / deployment operation, a fuel filler opening operation, a clock function, or the like.

  In addition, the operational rate of the device increases, and the chance of presenting information using three-dimensional sound increases, so that the subjective value that the driver feels for the system is also improved.

  FIG. 1 is a schematic plan view of a vehicle to which the driving support apparatus of the present invention is applied.

  The automobile 10 includes an obstacle sensor 12 that detects an obstacle existing around the vehicle at an appropriate location such as four corners of the vehicle body, and the obstacle sensor 12 detects an object (for example, a guardrail, a house, etc.) located around the vehicle. , Walls, pedestrians, bicycles, etc.). As the obstacle sensor 12, a sensor using ultrasonic waves, infrared rays, radar, or the like can be employed.

  A front monitoring camera 14 for monitoring the front of the automobile 10 and a driver monitoring camera 18 disposed toward the head 16 of the driver are disposed at the upper end of the front window and in the center in the vehicle width direction. The monitoring camera 18 can be used to detect the driver's line of sight.

  In FIG. 1, reference numeral 20 indicates an instrument panel, and 22 indicates a handle. The instrument panel 20 is provided with a microphone 17 and a clock 19 for inputting driver's voice. Further, door mirrors 13 are provided on the left and right front doors. The door mirror 13 can be opened and closed by the operation of the door mirror actuator 15 via the door mirror operation unit 27. Further, the left and right front doors and rear doors are provided with door lock actuators 21, which can individually lock and unlock the doors and perform centralized door locking / unlocking via the centralized door lock operating unit 25. Can do. Further, for example, at a position on the left rear side of the vehicle, an oil supply lid 23 is provided so as to be openable and closable with respect to the oil supply port. The oil supply lid 23 can be opened via an oil supply lid opening switch 29.

  Speakers are provided at the four corners of the passenger compartment. Specifically, a right front (R) speaker 24, a left front (L) speaker 26, a right rear (Rs) speaker 28, and a left rear (Ls) speaker 30 are provided. Using these four speakers 24-30, an alarm message or an acoustic sound is output when there is a possibility of an obstacle O colliding or contacting, and the driver is obstructed by the stereophonic sound output from the speakers 24-30. The direction of the object O can be recognized.

  Hereinafter, the operation of the driving support device having the training function associated with the central door lock operation, the door mirror storage / deployment operation, and the refueling lid opening operation will be described as Example 1, the driving support device having the training function associated with the clock function The operation will be described as a second embodiment. FIG. 2 is a block diagram illustrating a functional configuration of the driving support apparatus according to the first embodiment, and FIG. 8 is a block diagram illustrating a functional configuration of the driving support apparatus according to the second embodiment.

Example 1
In FIG. 2, the obstacle detection unit 201 detects an obstacle O such as another vehicle, a pedestrian, a two-wheeled vehicle, or a guardrail based on information input from the obstacle sensor 12 and the front monitoring camera 14. When there is a high risk that the obstacle O detected by the obstacle detection unit 201 contacts or collides with the vehicle, the azimuth and distance of the obstacle O with respect to the vehicle are obtained by the azimuth / distance calculation unit 202. Next, a virtual sound output method so that the sound image localization corresponding to the direction of the obstacle O obtained by the direction / distance calculation unit 202 can be performed by the obstacle virtual sound control unit 203 for localization of the sound image representing the obstacle O. Is controlled.

  The door lock control unit 204 causes the door lock actuator 21 to perform a lock / unlock operation in accordance with the operation of the central door lock operation unit 25. The door lock virtual sound control unit 205 controls the sound image localization direction of the door lock virtual sound according to the control of the door lock control unit 204.

  The door mirror control unit 206 causes the door mirror actuator 15 to perform a door mirror opening / closing operation in accordance with the operation of the door mirror operation unit 27. The door mirror virtual sound control unit 207 controls the sound image localization direction of the door mirror virtual sound according to the control of the door mirror control unit 206.

  The refueling virtual sound control unit 208 controls the refueling virtual sound according to the operation of the refueling lid opening switch 29.

  The speaker control unit 209 controls each output of the speakers 24 to 30 based on control by the obstacle virtual sound control unit 203, the door lock virtual sound control unit 205, the door mirror virtual sound control unit 207, or the refueling virtual sound control unit 208. To do.

  The above processing and control are executed by a driving support program. The outline of this driving support program will be described based on the flowchart of FIG. First, in step S1, signals are taken from the obstacle sensor 12 and the front monitoring camera 14, and the obstacle O is extracted from the captured image (S2). Here, for example, extraction by matching with image data of a vehicle, a pedestrian, or a two-wheeled vehicle that is stored in advance, or extraction by detecting a partner vehicle position or speed by inter-vehicle communication can be performed.

  When the obstacle O appears, the process proceeds from step S3 to S4, and in this step S4, a process of calculating a risk that the obstacle O collides with or comes into contact with the own vehicle is executed. For example, the degree of danger is calculated by calculating the time until the vehicle collides with the type of the obstacle O, the distance between the obstacle O and the vehicle, the moving speed and direction of the obstacle O, and the time until the collision. A risk level is calculated. Thereafter, a virtual sound that localizes the stereophonic sound in the calculated direction is calculated (S6), and the output of each speaker is controlled accordingly (S7).

  For example, as shown in 1 of FIG. 4 (a), when a bicycle that is an obstacle is detected in front of the driver, a virtual sound “tilling,” representing the bicycle is displayed as shown in (b). The stereo sound is generated using the speaker L and the speaker R. At this time, the sound from the speaker L is output at an earlier timing than the speaker R because the distance from the obstacle is farther from the speaker R. On the other hand, the sound from the speaker R is output at a weak level with a delay from the speaker L by an amount closer to the obstacle than the speaker L.

  Also, as shown in 2 of FIG. 4A, when a bicycle that is an obstacle is detected diagonally right forward of the driver, a virtual sound “Chillin” is shown in FIG. As described above, stereophonic sound is generated using the speaker R and the speaker Rs. At this time, the sound from the speaker Rs is output at an earlier timing than the speaker R because the distance from the obstacle is farther than the speaker R. On the other hand, the sound from the speaker R is output at a weak level, being delayed from the speaker L by an amount closer to the obstacle than the speaker Rs.

  If it is determined in step S3 that no obstacle is present, the process shifts to the training mode. First, in step S8, it is determined whether or not there is a concentrated door lock / unlock operation. Here, when there is a concentrated door lock / unlock operation, information is presented by three-dimensional sound in conjunction with the door lock / unlock operation in steps S9 to S12. When there is a centralized door lock / unlock operation, a virtual operation sound of a sound image that gives a time difference to the operation of the lock mechanism of each door and is localized in the direction of the door lock actuator in operation is output. The virtual sound may be output in synchronization with the operation of the door lock function, but it is not always necessary to synchronize.

  A specific example will be described with reference to FIG. When there is a concentrated door lock operation (S8, FIG. 5 (a)), first, a virtual sound is localized at the driver side door lock position (S9). Specifically, as shown in FIG. 5B, the door lock virtual sound of the right front door (driver's seat door) is output using the speaker R and the speaker Rs. Next, a virtual sound is localized at the rear right seat door lock position (S10). Specifically, as shown in FIG. 5C, a door lock virtual sound of the right rear door is output using the speaker R and the speaker Rs. Next, a virtual sound is localized at the rear left seat door lock position (S11). Specifically, as shown in FIG. 5D, a door lock virtual sound of the left rear door is output using the speaker L and the speaker Ls. Finally, a virtual sound is localized at the front left seat door lock position (S12). Specifically, as shown in FIG. 5E, the door front virtual sound of the left front door is output using the speaker L and the speaker Ls.

  In this manner, the output timing and output level of each speaker are sequentially controlled so as to substantially coincide with the arrival direction of each door lock operating sound. In the example of FIG. 5, the door lock virtual sound output order is clockwise (CW) starting from the driver's seat door, but may be reverse (CCW) or random.

  In step S13, it is determined whether or not a door mirror storage / unfolding operation has been performed. Here, when there is a door mirror storing / unfolding operation, information is presented by three-dimensional sound in conjunction with the door mirror storing / unfolding operation in steps S14 and S15. When there is a door mirror storing / unfolding operation, a time difference is given to the operation of the door mirrors of the left and right doors, and a virtual operation sound of a sound image localized in the direction of the operating door mirror actuator is output. The virtual sound may be output in synchronization with the operation of the door mirror, but it is not always necessary to synchronize.

  A specific example will be described with reference to FIG. When there is a door mirror storage / unfolding operation (S13, FIG. 6A), first, a virtual sound is localized at the right door mirror position (S14). Specifically, as shown in FIG. 6B, the virtual sound of the actuator 15 of the right door mirror 13 is output using the speaker R and the speaker Rs. Next, the virtual sound is localized at the left door mirror position (S15). Specifically, as shown in FIG. 6C, the virtual sound of the actuator 15 of the left door mirror 13 is output using the speaker L and the speaker Ls.

  In step S16, it is determined whether or not the refueling lid opening switch 29 has been used to open the refueling lid 23. Here, when there is a refueling lid opening operation, information is presented by stereophonic sound related to the refueling operation in steps S17 and S18.

  When there is a fuel lid opening operation (S16), the opening virtual sound of the fuel filler cap is localized at the fuel filler position (S17). Specifically, as shown in FIG. 7, a virtual sound is output using a speaker L and a speaker Ls. The virtual sound at this time may be, for example, an opening sound of a cork stopper called “Cupon”. Then, the gasoline injection virtual sound at the time of refueling is localized (S18). Similar to S17, the virtual sound is output using the speaker L and the speaker Ls. As the virtual sound at this time, for example, a sound of water pouring into the glass “Toku, Toku, Toku” may be used.

  As described above, as the first embodiment, the operation of the driving support apparatus having the function of training the direction perception of the three-dimensional sound associated with the concentrated door lock / unlock operation, the door mirror storage / deployment operation, and the fueling lid opening operation has been described. According to the first embodiment, each time the driver performs the concentrated door lock / unlock operation, the door mirror storage / deployment operation, and the refueling lid opening operation, the driver is in contact with information presentation by a plurality of three-dimensional sounds with different sound image localization directions. become. Thus, the driver repeats the “training” unconsciously without feeling particularly troublesome or burdensome. Thus, the driver's ability to perceive direction is improved, and the unfamiliar state of the driver is eliminated.

(Example 2)
Next, as Example 2, an operation of the driving support device having a training function associated with the clock function will be described.

  In FIG. 8, the same blocks as those in FIG. It should be noted that FIG. 8 shows only the configuration necessary for explaining the training function associated with the clock function. The functional blocks shown in FIG. 8 can be incorporated into the configuration of FIG.

  The line-of-sight detection unit 801 performs processing for detecting the line of sight of the driver from the image of the driver head taken by the driver monitoring camera 18. The voice recognition unit 802 recognizes the voice of the driver input via the microphone 17. The voice recognition unit 802 can recognize an operation instruction voice related to a predetermined navigation function, and can also recognize an operation instruction voice of the “clock function” according to the present embodiment.

  When no obstacle is detected, the time information provision start determination unit 803 determines the start of provision of time information. For example, based on the detection result of whether or not the driver has visually recognized the clock for a certain period of time by the line-of-sight detection unit 801 and the recognition result of the voice recognition unit 802 such as “What time is the driver now”? It is possible to determine whether to start providing information. The time information acquisition unit 804 acquires time information from the clock 19 in response to a command from the time information provision start determination unit 803. A time signal data generation unit 805 generates time signal data based on the time information acquired by the time information acquisition unit 804. The time signal data voice output control unit 806 controls the time signal sound by the stereophonic sound based on the time signal data generated by the time signal data generation unit 805. The speaker control unit 209 controls each output of the speakers 24 to 30 based on the control by the obstacle virtual sound control unit 203 or the time signal data sound control unit 806.

  FIG. 9 is a flowchart showing the operation of the driving support apparatus having the configuration shown in FIG. Since the obstacle detection process in steps S1 to S3 and the stereophonic sound control process when the obstacle in steps S4 to S7 are detected are the same as those in FIG. 3, the description thereof is omitted here.

  When it is determined in step S3 that there is no obstacle, the process shifts to the training mode. First, in step S <b> 21, the time information provision start determination unit 803 determines whether the clock 19 is viewed for a certain period of time based on the driver's line of sight detected by the line-of-sight detection unit 801. In step S22, the time information provision start determination unit 803 determines whether the driver's voice recognized by the voice recognition unit 802 is an instruction for a time signal function operation. If any of steps S21 and S22 is YES, the process proceeds to step S23.

  In step S23, time information is acquired from the clock 19. Thereafter, an announcement sound and a forecast sound / correct report sound corresponding to the acquired time information are output. Here, the message “I will tell you about ○ ○ ○ ○ minutes ○ seconds” is output as the announcement sound, and the sound “Pup Pup Pup Pong” is output as the forecast sound / correction sound. To do. In steps S24 to S28, such announcement sound, forecast sound and correct sound are output while changing the sound image localization direction.

  The example of FIG. 10 shows an example in which the forecast sound / correct report sound is output while changing the sound image localization direction along a circle centered on the driver's head. First, in step S24, as shown in FIG. 5 (a), an announcement sound “I am going to tell you the morning, hour, minute, and second” is output, and then in step S25, as shown in FIG. , The first forecast sound of “pu” is output. The announcement sound and the first forecast sound are controlled using the speaker R and the speaker L so that the sound image is localized in the driver front direction.

  Next, in step S26, as shown in (c), the second forecast sound “p” is output. Here, using the speaker R and the speaker Rs, the direction of the position advanced from the 12 o'clock position of the analog timepiece dial by an angle that is 1/3 of the angle formed by the 12 o'clock position and the current short hand position. To localize the sound image.

  Furthermore, in step S27, as shown in (d), the third forecast sound “p” is output. Here, the speaker R and the speaker Rs are used to move from the 12 o'clock position of the timepiece dial to a position advanced by 2/3 of the angle formed by the 12 o'clock position and the current short hand position. Localize the sound image.

  Finally, in step S28, as shown in (e), the correct alarm sound “Pawn” is output. Here, the sound image is localized in the direction of the current short hand position using the speaker Rs and the speaker Ls.

  As described above, as the second embodiment, the operation of the driving support apparatus having the training function for the direction perception of the stereophonic sound associated with the clock function has been described. According to the second embodiment, each time the clock function is used, the driver comes into contact with presentation of time signal information by a plurality of three-dimensional sounds with different sound image localization directions. Thus, the driver repeats the “training” unconsciously without feeling particularly troublesome or burdensome. Thus, the driver's ability to perceive direction is improved, and the unfamiliar state of the driver is eliminated.

(Modification)
In the first embodiment, it is shown that the virtual sound in which the sound image is localized is presented to each door mirror during the door mirror storing / unfolding operation, but it is also possible to add a function for adjusting the sound image localization position of these virtual sounds. is there.

  FIG. 11 shows a configuration of a driving support apparatus having such an adjustment function. In FIG. 11, the same reference numerals are assigned to the same blocks as those in FIG. 2, and description thereof is omitted. Also, it should be noted that in FIG. 11, blocks related to the training function other than the training function associated with the door mirror storage / deployment operation are omitted.

  An adjustment mode start switch 501 for instructing start of the adjustment mode, a front / rear adjustment switch 502 for adjusting the sound image localization position in the front / rear direction, and a left / right adjustment for adjusting the sound image localization position in the left / right direction are provided on the console section on the driver's seat side. An adjustment switch 503 and a confirmation switch 504 for confirming the adjusted sound image localization position are provided. These pieces of operation information are input to the sound image localization error detection unit 505, where a sound image localization error is calculated and stored.

  FIG. 12 is a flowchart showing the operation of the driving support apparatus having the configuration shown in FIG. The same steps as those in FIG. 3 are denoted by the same reference numerals, and the description thereof is omitted. Hereinafter, a description will be given with reference to FIG.

  Before step S2, it is determined whether or not to start the adjustment mode depending on whether or not the adjustment mode start switch 501 has been operated (S30). When starting the adjustment mode, the process proceeds to step S31. In this example, a localization error is detected using a left door mirror, and an example of correcting a sound image localization position is shown.

  In step S31, the virtual sound is localized at the position of the left door mirror (FIG. 13 (a)). The driver listens to this virtual sound and checks whether the sound image localization position matches the position of the left door mirror. If not, the driver operates the front / rear adjustment switch 502 and / or the left / right adjustment switch 503 to make them coincide. Can be adjusted. In step S32, for example, it is determined whether or not the left / right adjustment switch 503 has been operated. When the left / right adjustment switch 503 is operated, the sound image localization position in the left / right direction of the virtual sound of the left door mirror is adjusted in accordance with the operation amount (FIG. 13B).

  In this example, the sound image localization position in the left-right direction of the virtual sound of the left door mirror can be adjusted by operating the front / rear adjustment switch 502 (FIG. 13C). In step S33, it is determined whether or not the front / rear adjustment switch 502 has been operated. When the front / rear adjustment switch 502 is operated, the sound image localization position in the front / rear direction of the virtual sound of the left door mirror is adjusted according to the amount of operation (FIG. 13D). The output of each speaker is controlled in accordance with the adjustment result (S38), and the driver can listen to this to confirm the degree of coincidence, and the adjustment is confirmed when the confirmation switch 504 is operated.

  In step S37, it is determined whether or not a confirmation operation has been performed. When the confirmation operation is performed, the sound image localization error detection unit 505 calculates a localization error from the amount of movement of the sound image localization position in the left and right and front and rear directions, and stores this. As a result, the adjustment mode is exited.

  When an obstacle is detected in step S3, a virtual sound in which the sound image localization direction matches the direction of the obstacle is calculated in step S6. In step S40, the localization error is read out, and the above calculation is performed. The sound image localization position of the virtual sound is corrected.

  If there is a door mirror storing / unfolding operation in step S13, the virtual sound is localized at the right door mirror position by the corrected control amount as step S14 ', and the left door mirror is corrected by the corrected control amount as step S15'. The virtual sound is localized at the position.

  In this way, the sound image localization position of the virtual sound can be adjusted.

Claims (8)

A vehicle driving support device capable of outputting a notification sound for notifying an occupant of the presence of an obstacle when an obstacle is detected,
A plurality of speakers arranged in the passenger compartment;
Detection means for detecting obstacles that may collide with the vehicle;
Calculation means for calculating the direction of the obstacle when the obstacle is detected by the detection means;
A notification sound output means for controlling the plurality of speakers and outputting a notification sound whose sound image localization direction substantially coincides with the direction calculated by the calculation means;
When no obstacle is detected by the detection means, the sound image localization direction is substantially coincided with the direction of arrival of the operation sound accompanying the predetermined vehicle operation by controlling the plurality of speakers in association with the predetermined vehicle operation. Virtual sound output means for outputting virtual sound based on the stereophonic sound,
A vehicle driving support apparatus comprising:   The vehicle driving support device according to claim 1, wherein the predetermined vehicle operation is a central door lock / unlock, and the virtual sound is a virtual sound of the central door lock / unlock.   The vehicle driving support according to claim 2, wherein the virtual door output order of the centralized door lock / unlock is clockwise, counterclockwise, or random starting from the driver's seat door. apparatus.   The vehicle driving support device according to claim 1, wherein the predetermined vehicle operation is a door mirror storing / unfolding operation, and the virtual sound is a virtual sound of the door mirror storing / unfolding operation.   2. The predetermined vehicle operation is an opening operation of a fuel filler lid or a fuel filler cap, and the virtual sound is at least one of an opening sound of a fuel filler cap and a fuel injection sound. Driving support system for vehicles. A vehicle driving support device capable of outputting a notification sound for notifying an occupant of the presence of an obstacle when an obstacle is detected,
A plurality of speakers arranged in the passenger compartment;
Detection means for detecting obstacles that may collide with the vehicle;
Calculation means for calculating the direction of the obstacle when the obstacle is detected by the detection means;
A notification sound output means for controlling the plurality of speakers and outputting a notification sound whose sound image localization direction substantially coincides with the direction calculated by the calculation means;
Virtual sound output means for outputting a sound by stereophonic sound that notifies the current time while changing the sound image localization direction by controlling the plurality of speakers when no obstacle is detected by the detection means;
A vehicle driving support apparatus comprising:   The virtual sound output means notifies the current time while sequentially moving the sound image localization direction between the 12 o'clock position and the short hand position corresponding to the current time on a virtual analog timepiece dial centered on the driver. The vehicle driving support apparatus according to claim 6, wherein a sound by stereophonic sound is output.   The vehicle driving support apparatus according to claim 1, further comprising an adjusting unit that adjusts a sound image localization direction of the virtual sound output by the virtual sound output unit in accordance with an operation instruction of a driver.

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